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573 lines
17 KiB
Plaintext
573 lines
17 KiB
Plaintext
<sdf version='1.6'>
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<model name='boat'>
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<link name='base_link'>
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<pose>0 0 0 0 -0 0</pose>
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<inertial>
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<pose >0 0 0.124229 0 -0 0</pose>
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<mass>227</mass>
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<inertia>
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<ixx>181.42</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>408.203</iyy>
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<iyz>0</iyz>
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<izz>495.037</izz>
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</inertia>
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</inertial>
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<collision name='base_link_fixed_joint_lump__left_float_collision'>
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<pose >-0.4 1.03 0.2 3.14159 1.57079 3.14159</pose>
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<geometry>
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<cylinder>
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<length>4</length>
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<radius>0.2</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_mid_float_collision_1'>
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<pose>1.85 1.03 0.3 0 1.38 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.17</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_front_float_collision_2'>
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<pose>2.3 1.03 0.4 0 1.3 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.12</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_left_beam_lower_collision_3'>
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<pose>0.9 0.85 1 0.78 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_left_beam_upper_collision_4'>
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<pose>0.9 0.6 1.18 1.35 -0 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_lower_collision_5'>
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<pose>-0.65 0.99 0.7 0.1 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_medium_collision_6'>
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<pose>-0.57 0.87 1.05 0.75 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_left_beam_upper_collision_7'>
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<pose>-0.55 0.65 1.17 1.35 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_lower_collision_8'>
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<pose>-0.74 1.03 0.7 0 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_medium_collision_9'>
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<pose>-0.79 0.91 1.05 0.75 -0.15 -0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_left_beam_upper_collision_10'>
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<pose>-0.81 0.67 1.18 1.45 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_joint_collision_11'>
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<pose>0.58 1.03 0.6 0 -0.6 0</pose>
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<geometry>
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<box>
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<size>0.65 0.2 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_float_collision_12'>
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<pose>-0.4 -1.03 0.2 3.14159 1.57079 3.14159</pose>
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<geometry>
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<cylinder>
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<length>4</length>
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<radius>0.2</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_mid_float_collision_13'>
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<pose>1.85 -1.03 0.3 0 1.38 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.17</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_front_float_collision_14'>
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<pose>2.3 -1.03 0.4 0 1.3 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.12</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_right_beam_lower_collision_15'>
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<pose>0.9 -0.85 1 -0.78 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.5</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__front_right_beam_upper_collision_16'>
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<pose>0.9 -0.6 1.18 -1.35 0 0</pose>
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<geometry>
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<cylinder>
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<length>0.2</length>
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<radius>0.04</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_lower_collision_17'>
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<pose>-0.65 -0.99 0.7 -0.1 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_medium_collision_18'>
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<pose>-0.57 -0.87 1.05 -0.75 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__mid_right_beam_upper_collision_19'>
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<pose>-0.55 -0.65 1.17 -1.35 0.25 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_lower_collision_20'>
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<pose>-0.74 -1.03 0.7 0 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.45</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_medium_collision_21'>
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<pose>-0.79 -0.91 1.05 -0.75 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.32</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__rear_right_beam_upper_collision_22'>
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<pose>-0.81 -0.67 1.18 -1.45 -0.15 0</pose>
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<geometry>
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<cylinder>
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<length>0.3</length>
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<radius>0.03</radius>
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</cylinder>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_joint_collision_23'>
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<pose>0.58 -1.03 0.6 0 -0.6 0</pose>
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<geometry>
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<box>
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<size>0.65 0.2 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__top_base_collision_24'>
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<pose>0 0 1.25 0 -0 0</pose>
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<geometry>
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<box>
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<size>1.85 1 0.1</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__left_battery_collision_collision_25'>
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<pose>0 1 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.6 0.4 0.31</size>
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</box>
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</geometry>
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</collision>
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<collision name='base_link_fixed_joint_lump__right_battery_collision_collision_26'>
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<pose>0 -1 0.6 0 -0 0</pose>
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<geometry>
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<box>
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<size>0.6 0.4 0.31</size>
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</box>
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</geometry>
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</collision>
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<visual name='base_link_fixed_joint_lump__dummy_link_visual'>
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<pose>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/body.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='base_link_fixed_joint_lump__left_battery_visual_visual_1'>
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<pose>0 -0.03 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/battery.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>__default__</uri>
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</script>
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</material>
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</visual>
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<visual name='base_link_fixed_joint_lump__right_battery_visual_visual_2'>
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<pose>0 -2.03 0 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/battery.dae</uri>
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</mesh>
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</geometry>
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<material>
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<script>
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<name>Gazebo/DarkGrey</name>
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<uri>__default__</uri>
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</script>
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</material>
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</visual>
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<visual name='right_engine_link_visual'>
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<pose>-2.37378 -1.02713 0.318237 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes//engine.dae</uri>
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</mesh>
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</geometry>
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</visual>
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<visual name='left_engine_link_visual'>
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<pose>-2.37378 1.02713 0.318237 0 -0 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes//engine.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='left_propeller_link'>
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<pose>-2.65193 1.02713 -0.191134 0 1.57079 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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<mass>0.5</mass>
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<inertia>
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<ixx>0.008545</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.008545</iyy>
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<iyz>0</iyz>
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<izz>0.0144</izz>
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</inertia>
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</inertial>
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<collision name='left_propeller_link_fixed_joint_lump__left_propeller_collision_collision'>
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<pose>-0.08 0 0 3.14159 0.0 3.14159</pose>
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<geometry>
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<cylinder>
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<length>0.18</length>
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<radius>0.24</radius>
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</cylinder>
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</geometry>
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</collision>
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<visual name='left_propeller_link_visual'>
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<pose>0 0 0 0 -1.57079 0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='left_engine_propeller_joint' type='revolute'>
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<child>left_propeller_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<!-- <damping>0.05</damping>
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<friction>0.05</friction> -->
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name='right_propeller_link'>
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<pose>-2.65193 -1.02713 -0.191134 0 1.57079 0</pose>
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<inertial>
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<pose>0 0 0 0 -0 0</pose>
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|
<mass>0.5</mass>
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|
<inertia>
|
|
<ixx>0.008545</ixx>
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|
<ixy>0</ixy>
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|
<ixz>0</ixz>
|
|
<iyy>0.008545</iyy>
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|
<iyz>0</iyz>
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|
<izz>0.0144</izz>
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</inertia>
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|
</inertial>
|
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<collision name='right_propeller_link_fixed_joint_lump__right_propeller_collision_collision'>
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<pose>-0.08 0 0 3.14159 0.0 3.14159</pose>
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|
<geometry>
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|
<cylinder>
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<length>0.18</length>
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<radius>0.24</radius>
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</cylinder>
|
|
</geometry>
|
|
</collision>
|
|
<visual name='right_propeller_link_visual'>
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|
<pose>0 0 0 0 -1.57079 0</pose>
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|
<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://boat/meshes/propeller.dae</uri>
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</mesh>
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</geometry>
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</visual>
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</link>
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<joint name='right_engine_propeller_joint' type='revolute'>
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<child>right_propeller_link</child>
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<parent>base_link</parent>
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<axis>
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<xyz>1 0 0</xyz>
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|
<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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|
</limit>
|
|
<dynamics>
|
|
<!-- <damping>0.05</damping>
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|
<friction>0.05</friction> -->
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|
<spring_reference>0</spring_reference>
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|
<spring_stiffness>0</spring_stiffness>
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|
</dynamics>
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|
<use_parent_model_frame>1</use_parent_model_frame>
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|
</axis>
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</joint>
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|
|
|
<plugin name='usv_dynamics_wamv_dynamics_plugin' filename='libgazebo_usv_dynamics_plugin.so'>
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|
<bodyName>base_link</bodyName>
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|
<waterLevel>0</waterLevel>
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|
<waterDensity>997.8</waterDensity>
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|
<xDotU>0.0</xDotU>
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|
<yDotV>0.0</yDotV>
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|
<nDotR>0.0</nDotR>
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|
<xU>51.3</xU>
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|
<xUU>72.4</xUU>
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|
<yV>40.0</yV>
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|
<yVV>0.0</yVV>
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|
<zW>500.0</zW>
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|
<kP>50.0</kP>
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|
<mQ>50.0</mQ>
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|
<nR>400.0</nR>
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<nRR>0.0</nRR>
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|
<hullRadius>0.213</hullRadius>
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|
<boatWidth>2.4</boatWidth>
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|
<boatLength>4.9</boatLength>
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|
<length_n>2</length_n>
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|
<wave_model>ocean_waves</wave_model>
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|
</plugin>
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<link name='imu_link'>
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|
<!-- <pose>0 0 0 0 0 3.1415927</pose> -->
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|
<pose>0 0 0 0 0 0</pose>
|
|
<inertial>
|
|
<pose>0 0 0 0 0 0</pose>
|
|
<mass>0.015</mass>
|
|
<inertia>
|
|
<ixx>1e-05</ixx>
|
|
<ixy>0</ixy>
|
|
<ixz>0</ixz>
|
|
<iyy>1e-05</iyy>
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|
<iyz>0</iyz>
|
|
<izz>1e-05</izz>
|
|
</inertia>
|
|
</inertial>
|
|
<sensor name="imu_sensor" type="imu">
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|
<pose>0 0 0 3.141593 0 0</pose>
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|
<always_on>1</always_on>
|
|
<update_rate>1000.0</update_rate>
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|
</sensor>
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|
</link>
|
|
<joint name='imu_joint' type='revolute'>
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|
<child>imu_link</child>
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|
<parent>base_link</parent>
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|
<axis>
|
|
<xyz>1 0 0</xyz>
|
|
<limit>
|
|
<lower>0</lower>
|
|
<upper>0</upper>
|
|
<effort>0</effort>
|
|
<velocity>0</velocity>
|
|
</limit>
|
|
<dynamics>
|
|
<damping>0.7</damping>
|
|
</dynamics>
|
|
<use_parent_model_frame>1</use_parent_model_frame>
|
|
</axis>
|
|
</joint>
|
|
|
|
<plugin name="ArduCopter_Plugin" filename="libArduPilotPlugin.so">
|
|
<fdm_addr>127.0.0.1</fdm_addr>
|
|
<fdm_port_in>9002</fdm_port_in>
|
|
<fdm_port_out>9003</fdm_port_out>
|
|
<!--
|
|
Require by APM :
|
|
Only change model and gazebo from XYZ to XY-Z coordinates
|
|
-->
|
|
<!-- 3.141593 -->
|
|
<modelXYZToAirplaneXForwardZDown>0 0 0 3.141593 0 0</modelXYZToAirplaneXForwardZDown>
|
|
<gazeboXYZToNED>0 0 0 3.141593 0 0</gazeboXYZToNED>
|
|
<imuName>boat::imu_link::imu_sensor</imuName>
|
|
<connectionTimeoutMaxCount>5</connectionTimeoutMaxCount>
|
|
<!--
|
|
incoming control command [0, 1]
|
|
so offset it by 0 to get [0, 1]
|
|
and divide max target by 1.
|
|
offset = 0
|
|
multiplier = 838 max rpm / 1 = 838
|
|
-->
|
|
<control channel="0">
|
|
<type>VELOCITY</type>
|
|
<offset>-0.5</offset>
|
|
<p_gain>1</p_gain>
|
|
<i_gain>0</i_gain>
|
|
<d_gain>0</d_gain>
|
|
<i_max>0</i_max>
|
|
<i_min>0</i_min>
|
|
<cmd_max>10</cmd_max>
|
|
<cmd_min>-10</cmd_min>
|
|
<jointName>left_engine_propeller_joint</jointName>
|
|
<multiplier>-100</multiplier>
|
|
</control>
|
|
<control channel="2">
|
|
<type>VELOCITY</type>
|
|
<offset>-0.5</offset>
|
|
<p_gain>1</p_gain>
|
|
<i_gain>0</i_gain>
|
|
<d_gain>0</d_gain>
|
|
<i_max>0</i_max>
|
|
<i_min>0</i_min>
|
|
<cmd_max>10</cmd_max>
|
|
<cmd_min>-10</cmd_min>
|
|
<jointName>right_engine_propeller_joint</jointName>
|
|
<multiplier>-100</multiplier>
|
|
</control>
|
|
|
|
</plugin>
|
|
<plugin name="rotor_1_blade_1" filename="libLiftDragPlugin.so">
|
|
<a0>2</a0>
|
|
<alpha_stall>4</alpha_stall>
|
|
<cla>10.2500</cla>
|
|
<cda>0.10</cda>
|
|
<cma>0.00</cma>
|
|
<cla_stall>-0.025</cla_stall>
|
|
<cda_stall>0.0</cda_stall>
|
|
<cma_stall>0.0</cma_stall>
|
|
<area>0.002</area>
|
|
<air_density>997</air_density>
|
|
<cp>0.084 0 0</cp>
|
|
<forward>0 1 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>right_propeller_link</link_name>
|
|
</plugin>
|
|
<plugin name="rotor_1_blade_2" filename="libLiftDragPlugin.so">
|
|
<a0>2</a0>
|
|
<alpha_stall>4</alpha_stall>
|
|
<cla>10.2500</cla>
|
|
<cda>0.10</cda>
|
|
<cma>0.00</cma>
|
|
<cla_stall>-0.025</cla_stall>
|
|
<cda_stall>0.0</cda_stall>
|
|
<cma_stall>0.0</cma_stall>
|
|
<area>0.002</area>
|
|
<air_density>997</air_density>
|
|
<cp>-0.084 0 0</cp>
|
|
<forward>0 -1 0</forward>
|
|
<upward>0 0 1</upward>
|
|
<link_name>left_propeller_link</link_name>
|
|
</plugin>
|
|
|
|
|
|
|
|
|
|
|
|
</model>
|
|
</sdf>
|